Iamlab CMU Pickup Insert Augmented
Collection
6 items
•
Updated
Datasets:
Dataset Viewer
observation.widowX.joints
listlengths 7
7
| observation.widowX.ee_pose
listlengths 7
7
| observation.widowX.base_position
listlengths 3
3
| observation.widowX.base_orientation
float32 0
0
| observation.widowX.ee_error
listlengths 7
7
| observation.sawyer.joints
listlengths 8
8
| observation.sawyer.ee_pose
listlengths 7
7
| observation.sawyer.base_position
listlengths 3
3
| observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
listlengths 7
7
| observation.ur5e.joints
listlengths 7
7
| observation.ur5e.ee_pose
listlengths 7
7
| observation.ur5e.base_position
listlengths 3
3
| observation.ur5e.base_orientation
float32 0
0
| observation.ur5e.ee_error
listlengths 7
7
| observation.google_robot.joints
listlengths 8
8
| observation.google_robot.ee_pose
listlengths 7
7
| observation.google_robot.base_position
listlengths 3
3
| observation.google_robot.base_orientation
float32 0
0
| observation.google_robot.ee_error
listlengths 7
7
| observation.jaco.joints
listlengths 7
7
| observation.jaco.ee_pose
listlengths 7
7
| observation.jaco.base_position
listlengths 3
3
| observation.jaco.base_orientation
float32 0
0
| observation.jaco.ee_error
listlengths 7
7
| observation.kinova3.joints
listlengths 8
8
| observation.kinova3.ee_pose
listlengths 7
7
| observation.kinova3.base_position
listlengths 3
3
| observation.kinova3.base_orientation
float32 0
0
| observation.kinova3.ee_error
listlengths 7
7
| observation.kuka_iiwa.joints
listlengths 8
8
| observation.kuka_iiwa.ee_pose
listlengths 7
7
| observation.kuka_iiwa.base_position
listlengths 3
3
| observation.kuka_iiwa.base_orientation
float32 0
0
| observation.kuka_iiwa.ee_error
listlengths 7
7
| observation.xarm7.joints
listlengths 8
8
| observation.xarm7.ee_pose
listlengths 7
7
| observation.xarm7.base_position
listlengths 3
3
| observation.xarm7.base_orientation
float32 0
0
| observation.xarm7.ee_error
listlengths 7
7
| natural_language_instruction
stringclasses 7
values | observation.state
listlengths 20
20
| observation.joints
listlengths 8
8
| observation.ee_pose
listlengths 7
7
| timestamp
float32 0
22.9
| frame_index
int64 0
686
| episode_index
int64 0
99
| index
int64 0
24.7k
| task_index
int64 0
6
|
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Pick up pink block.
|
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Pick up pink block.
|
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
0,
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[
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[
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[
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[
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|
[
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0.00019335513934493065,
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Pick up pink block.
|
[
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[
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[
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| 2
| 0
| 2
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-5.960464477539063e-8,
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[
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[
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[
0,
0,
0
] | 0
|
[
1.4901161193847656e-7,
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0.00019334681564942002,
7.152557373046875e-7,
-0.00015986571088433266,
0.000017605721950531006
] |
Pick up pink block.
|
[
0.0029233996756374836,
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0.0341053269803524,
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[
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[
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| 3
| 0
| 3
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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|
[
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[
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[
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[
0,
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0
] | 0
|
[
-0.000012278556823730469,
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[
-1.8296796083450317,
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[
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[
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0,
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] | 0
|
[
-0.000001519918441772461,
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[
-0.12407723069190979,
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] |
[
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[
0,
0,
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|
[
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[
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[
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[
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] | 0
|
[
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-0.00014059152454137802,
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[
-0.02181493677198887,
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[
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[
0,
0,
0
] | 0
|
[
-0.000005185604095458984,
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-9.5367431640625e-7,
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[
-0.01827464997768402,
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-1.951891303062439,
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[
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] |
[
0,
0,
0
] | 0
|
[
-2.9802322387695312e-8,
7.245689630508423e-7,
-8.195638656616211e-7,
0.000008980219718068838,
0,
-0.00000575091689825058,
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[
0.0841488167643547,
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-0.047327183187007904,
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] |
[
0.46208950877189636,
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[
0,
0,
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] | 0
|
[
1.7881393432617188e-7,
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-0.0001597898080945015,
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] |
Pick up pink block.
|
[
0.0024063573218882084,
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0.0019515487365424633,
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[
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[
0.4620896875858307,
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] | 0.133333
| 4
| 0
| 4
| 0
|
[
0.05496630817651749,
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[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000005930662155151367,
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-1.2665987014770508e-7,
-0.00014528247993439436,
-4.172325134277344e-7,
0.00015118764713406563,
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[
-0.830970823764801,
-1.4116084575653076,
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2.38552188873291,
-0.19387386739253998,
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] |
[
0.46183887124061584,
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[
0,
0,
0
] | 0
|
[
-0.00001233816146850586,
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[
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0
] |
[
0.4618280827999115,
0.016623100265860558,
0.1595691442489624,
0.0009233098244294524,
0.9999538660049438,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-5.960464477539063e-8,
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0,
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[
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[
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[
0,
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] | 0
|
[
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6.556510925292969e-7,
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] |
Pick up pink block.
|
[
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[
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[
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| 5
| 0
| 5
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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0
] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000005185604095458984,
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0.0001318114809691906
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-5.960464477539063e-8,
7.227063179016113e-7,
-8.195638656616211e-7,
0.000008933944627642632,
0,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
1.7881393432617188e-7,
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0.00019333389354869723,
6.556510925292969e-7,
-0.0001596813090145588,
0.00001752842217683792
] |
Pick up pink block.
|
[
0.002179448725655675,
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-2.5003654956817627,
0.0019510427955538034,
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[
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[
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] | 0.2
| 6
| 0
| 6
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.000005900859832763672,
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[
-0.8335811495780945,
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[
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[
0,
0,
0
] | 0
|
[
-0.000012308359146118164,
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-0.0000014901161193847656,
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[
-1.8311431407928467,
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2.0649852752685547,
-2.051290273666382,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000001519918441772461,
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-4.172325134277344e-7,
0.000013661105185747147,
0.0000536041334271431
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[
-0.1253417730331421,
1.3353252410888672,
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-1.0689544677734375,
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] |
[
0.4612674415111542,
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[
0,
0,
0
] | 0
|
[
-0.000009447336196899414,
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1.7881393432617188e-7,
-0.0001288941130042076,
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[
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[
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[
0,
0,
0
] | 0
|
[
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4.470348358154297e-7,
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-0.00014047324657440186,
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[
-0.020822765305638313,
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1.6832826137542725,
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-0.13642092049121857,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000005185604095458984,
5.234032869338989e-7,
-0.00000406801700592041,
0.000010836636647582054,
-8.940696716308594e-7,
-0.000006784219294786453,
0.0001318124122917652
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[
-0.019310375675559044,
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-1.952685832977295,
-0.06817980110645294,
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-2.9802322387695312e-8,
7.208436727523804e-7,
-8.195638656616211e-7,
0.00000891846138983965,
0,
-0.000005734153091907501,
0.00000682612881064415
] |
[
0.08308706432580948,
0.04252758249640465,
-0.04757873713970184,
0.948616623878479,
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3.1656644344329834,
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] |
[
0.4616246521472931,
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[
0,
0,
0
] | 0
|
[
1.7881393432617188e-7,
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-9.238719940185547e-7,
0.00019333238014951348,
6.556510925292969e-7,
-0.0001596882939338684,
0.00001751398667693138
] |
Pick up pink block.
|
[
0.0028522906359285116,
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0.03432166948914528,
-2.498432159423828,
0.0019616703502833843,
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0.808983564376831,
1,
4.048528671264648,
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-0.27891167998313904,
-0.3181910216808319,
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-1.1460824012756348,
0.3485022187232971,
-0.04785875976085663,
-0.5662398934364319,
0.3570214807987213
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[
0.0021632248535752296,
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-2.5010459423065186,
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2.4097366333007812,
0.80891352891922,
0
] |
[
0.4616248309612274,
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0.0055377427488565445,
0.007331934291869402,
0.0009244322427548468
] | 0.233333
| 7
| 0
| 7
| 0
|
[
0.0537661537528038,
0.1364748477935791,
0.3027714490890503,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-2.9802322387695312e-8,
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[
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[
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[
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|
[
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5.960464477539062e-7,
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] |
Pick up pink block.
|
[
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[
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[
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| 8
| 0
| 8
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-2.9802322387695312e-8,
7.227063179016113e-7,
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0.00000894616823643446,
0,
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[
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[
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[
0,
0,
0
] | 0
|
[
1.7881393432617188e-7,
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6.556510925292969e-7,
-0.0001599825918674469,
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] |
Pick up pink block.
|
[
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[
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[
0.4630163908004761,
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] | 0.3
| 9
| 0
| 9
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.0000060498714447021484,
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[
-0.8091216683387756,
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[
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[
0,
0,
0
] | 0
|
[
-0.000012159347534179688,
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[
-1.827272653579712,
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[
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[
0,
0,
0
] | 0
|
[
-0.000001519918441772461,
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[
-0.12296351790428162,
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[
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[
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|
[
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[
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[
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[
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] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
-2.9802322387695312e-8,
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[
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[
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[
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] | 0
|
[
1.7881393432617188e-7,
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0.00019298831466585398,
7.748603820800781e-7,
-0.00016027502715587616,
0.00001754332333803177
] |
Pick up pink block.
|
[
0.0042797597125172615,
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[
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[
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| 10
| 0
| 10
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
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|
[
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[
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[
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[
0,
0,
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|
[
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[
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[
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[
0,
0,
0
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|
[
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1.1920928955078125e-7,
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[
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] |
[
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[
0,
0,
0
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-2.9802322387695312e-8,
7.394701242446899e-7,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
1.4901161193847656e-7,
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0.00019287696341052651,
8.940696716308594e-7,
-0.00016064569354057312,
0.000017822720110416412
] |
Pick up pink block.
|
[
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0.0031198158394545317,
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[
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[
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| 11
| 0
| 11
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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|
[
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[
-0.7822611331939697,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000011920928955078125,
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[
-1.8170307874679565,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000014603137969970703,
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-8.344650268554688e-7,
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[
-0.12095709145069122,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000009626150131225586,
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5.960464477539063e-8,
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[
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[
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[
0,
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] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.000005155801773071289,
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[
-0.008150690235197544,
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[
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[
0,
0,
0
] | 0
|
[
-2.9802322387695312e-8,
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-8.046627044677734e-7,
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-5.960464477539063e-8,
-0.000006184913218021393,
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[
0.09470195323228836,
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[
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[
0,
0,
0
] | 0
|
[
1.4901161193847656e-7,
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9.5367431640625e-7,
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] |
Pick up pink block.
|
[
0.00656575383618474,
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[
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] |
[
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] | 0.4
| 12
| 0
| 12
| 0
|
[
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[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
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-0.00013669615145772696,
-2.980232238769531e-7,
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[
-0.7635690569877625,
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[
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[
0,
0,
0
] | 0
|
[
-0.000011742115020751953,
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[
-1.8053218126296997,
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[
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[
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|
[
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[
-0.12162113189697266,
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[
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[
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|
[
-0.000009864568710327148,
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[
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[
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[
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] | 0
|
[
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[
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[
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[
0,
0,
0
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[
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0.000010279356501996517,
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[
0.0029223060701042414,
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[
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[
0,
0,
0
] | 0
|
[
-2.9802322387695312e-8,
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[
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[
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[
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|
[
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0.00019313872326165438,
8.940696716308594e-7,
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] |
Pick up pink block.
|
[
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[
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[
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| 13
| 0
| 13
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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[
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[
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[
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[
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|
[
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[
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[
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[
0,
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0
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-2.9802322387695312e-8,
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[
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[
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[
0,
0,
0
] | 0
|
[
2.9802322387695312e-8,
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0.0001933826133608818,
8.344650268554688e-7,
-0.0001630578190088272,
0.000022219493985176086
] |
Pick up pink block.
|
[
0.008431999944150448,
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[
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[
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| 14
| 0
| 14
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.000011324882507324219,
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[
-1.773192048072815,
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2.031902313232422,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000013113021850585938,
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[
-0.11454105377197266,
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1.350000023841858,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000010311603546142578,
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-3.5762786865234375e-7,
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[
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[
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[
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|
[
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-0.0001453794538974762,
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[
-0.0707738995552063,
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[
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[
0,
0,
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] | 0
|
[
-0.0000050961971282958984,
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-0.000009347684681415558,
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[
0.03274170681834221,
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-1.9216469526290894,
-0.07198479771614075,
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] |
[
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[
0,
0,
0
] | 0
|
[
2.9802322387695312e-8,
9.313225746154785e-7,
-8.046627044677734e-7,
0.000014609424397349358,
-5.960464477539063e-8,
-0.000008371658623218536,
0.0000062640756368637085
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[
0.14096076786518097,
0.06297895312309265,
-0.0543656162917614,
0.9937842488288879,
-0.0015423374716192484,
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3.2124664783477783,
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] |
[
0.47517403960227966,
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[
0,
0,
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] | 0
|
[
-5.960464477539063e-8,
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7.152557373046875e-7,
-0.00016420893371105194,
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] |
Pick up pink block.
|
[
0.0084106819704175,
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-2.43855357170105,
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1,
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0.3726634383201599
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[
0.008376038633286953,
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-2.466402292251587,
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] |
[
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0.008251989260315895,
0.018512511625885963,
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] | 0.5
| 15
| 0
| 15
| 0
|
[
0.14952099323272705,
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0.20593935251235962,
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[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000007510185241699219,
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4.172325134277344e-7,
-0.00012194889131933451,
2.384185791015625e-7,
0.00014787493273615837,
-0.00006689503788948059
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[
-0.7621904015541077,
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2.341953992843628,
-0.19868822395801544,
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0
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[
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[
0,
0,
0
] | 0
|
[
-0.000011235475540161133,
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[
-1.7558194398880005,
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[
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[
0,
0,
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] | 0
|
[
-0.0000012516975402832031,
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[
-0.10468186438083649,
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[
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0.01950324885547161
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[
0,
0,
0
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|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
0,
0,
0
] | 0
|
[
5.960464477539063e-8,
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[
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[
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[
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|
[
-1.7881393432617188e-7,
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0.00019363139290362597,
6.556510925292969e-7,
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0.000027943402528762817
] |
Pick up pink block.
|
[
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[
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[
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| 16
| 0
| 16
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
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|
[
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[
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[
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[
0,
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
8.940696716308594e-8,
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0.0000173978041857481,
-5.960464477539063e-8,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-3.2782554626464844e-7,
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0.00019321961735840887,
5.960464477539062e-7,
-0.00016573769971728325,
0.00002999231219291687
] |
Pick up pink block.
|
[
0.008269167505204678,
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0.003441912354901433,
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2.699871063232422,
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[
0.0084106819704175,
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[
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] | 0.566667
| 17
| 0
| 17
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
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[
-0.9971736073493958,
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[
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[
0,
0,
0
] | 0
|
[
-0.000013262033462524414,
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[
-1.7309168577194214,
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-2.0631103515625,
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0
] |
[
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-0.0005102785071358085,
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[
0,
0,
0
] | 0
|
[
-0.0000011324882507324219,
-8.307397365570068e-7,
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[
-0.07204284518957138,
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1.350000023841858,
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] |
[
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-0.0006152543937787414,
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[
0,
0,
0
] | 0
|
[
-0.000010132789611816406,
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0.00010013522114604712,
-4.172325134277344e-7,
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[
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] |
[
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[
0,
0,
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] | 0
|
[
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-0.00014713406562805176,
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[
-0.1063137948513031,
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1.5955407619476318,
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] |
[
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-0.0005230664974078536,
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[
0,
0,
0
] | 0
|
[
-0.000005036592483520508,
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0.000007947324775159359,
-0.0000026226043701171875,
-0.00001112278550863266,
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[
0.0673803836107254,
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-0.07032758742570877,
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] |
[
0.4882993996143341,
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-0.0005330100539140403,
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] |
[
0,
0,
0
] | 0
|
[
1.4901161193847656e-7,
0.0000010691583156585693,
-7.897615432739258e-7,
0.000017890881281346083,
-5.960464477539063e-8,
-0.000010120216757059097,
0.000004464760422706604
] |
[
0.22579461336135864,
0.10840356349945068,
-0.10731349885463715,
1.0460596084594727,
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] |
[
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[
0,
0,
0
] | 0
|
[
-4.470348358154297e-7,
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0.0001923436066135764,
7.152557373046875e-7,
-0.0001659211702644825,
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] |
Pick up pink block.
|
[
0.008261477574706078,
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-2.3826711177825928,
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1.5145729780197144,
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[
0.008343822322785854,
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-2.42201828956604,
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] |
[
0.48829954862594604,
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0.9997625350952148,
0.0075813098810613155,
0.020422473549842834,
-0.0005151191726326942
] | 0.6
| 18
| 0
| 18
| 0
|
[
0.1818430870771408,
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] |
[
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0.020426971837878227
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000008553266525268555,
-0.00000657886266708374,
5.438923835754395e-7,
-0.00011015799827873707,
2.980232238769531e-7,
0.00014635687693953514,
-0.00007711723446846008
] |
[
-1.0927966833114624,
-1.1476727724075317,
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2.2459075450897217,
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] |
[
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0.9997638463973999,
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0.02029070071876049
] |
[
0,
0,
0
] | 0
|
[
-0.000006586313247680664,
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0.000059153884649276733
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[
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0
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[
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[
0,
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0
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|
[
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[
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[
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[
0,
0,
0
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.0000050067901611328125,
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[
0.07186827063560486,
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[
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[
0,
0,
0
] | 0
|
[
2.384185791015625e-7,
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5.960464477539063e-8,
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[
0.25910112261772156,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-5.364418029785156e-7,
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0.00019090808928012848,
0.0000010132789611816406,
-0.00016578193753957748,
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] |
Pick up pink block.
|
[
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[
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[
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| 19
| 0
| 19
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
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|
[
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[
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[
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[
0,
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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0,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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1.553699254989624,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000050067901611328125,
4.023313522338867e-7,
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[
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[
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[
0,
0,
0
] | 0
|
[
2.980232238769531e-7,
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5.960464477539063e-8,
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[
0.2889309227466583,
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] |
[
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[
0,
0,
0
] | 0
|
[
-6.556510925292969e-7,
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-1.7881393432617188e-7,
0.0001892666332423687,
0.0000011920928955078125,
-0.0001656138338148594,
0.000030234456062316895
] |
Pick up pink block.
|
[
0.008685859851539135,
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-2.3353431224823,
0.00344220083206892,
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1,
4.739622116088867,
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[
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[
0.5003122091293335,
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-0.0028465501964092255
] | 0.666667
| 20
| 0
| 20
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.000009328126907348633,
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6.407499313354492e-7,
-0.00010351650416851044,
2.384185791015625e-7,
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[
-1.0198230743408203,
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2.2227821350097656,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000064373016357421875,
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-0.00012055691331624985,
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0.00011534756049513817,
0.00004986859858036041
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[
-1.709157109260559,
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1.9570730924606323,
-2.0706160068511963,
-1.5563393831253052,
-0.15376810729503632,
0
] |
[
0.5068594813346863,
0.06841697543859482,
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-0.004205411300063133,
0.9997383952140808,
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0.021067747846245766
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[
0,
0,
0
] | 0
|
[
-0.0000010132789611816406,
-7.003545761108398e-7,
-0.000002086162567138672,
-0.000004481058567762375,
-0.0000010728836059570312,
0.00000757165253162384,
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[
0.0063185072503983974,
1.3352636098861694,
1.0336004495620728,
1.4843238592147827,
1.844531774520874,
-1.057440996170044,
1.350000023841858,
0
] |
[
0.5058130025863647,
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0.18851667642593384,
-0.004293686244636774,
0.9997369647026062,
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0.02107062377035618
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[
0,
0,
0
] | 0
|
[
-0.000008404254913330078,
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0.00008379388600587845,
3.5762786865234375e-7,
-0.00011566933244466782,
0.000045806169509887695
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[
-0.00969112478196621,
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-1.028661847114563,
-2.8522603511810303,
0
] |
[
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-0.004452166147530079,
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[
0,
0,
0
] | 0
|
[
0.0000036954879760742188,
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9.238719940185547e-7,
0.00024227378889918327,
0.0000034570693969726562,
-0.0001468118280172348,
-0.000057015568017959595
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[
-0.11995202302932739,
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1.53102445602417,
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1.0017861127853394,
-0.2188187539577484,
0
] |
[
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-0.0042163352482020855,
0.9997398853302002,
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[
0,
0,
0
] | 0
|
[
-0.000004947185516357422,
3.948807716369629e-7,
-0.000003725290298461914,
0.00000644288957118988,
-0.000002562999725341797,
-0.000011636875569820404,
0.0001274198293685913
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[
0.07717537134885788,
0.6238128542900085,
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-1.8225104808807373,
-0.06405863910913467,
0.6544886827468872,
0.1690034717321396,
0
] |
[
0.5068581104278564,
0.06841517239809036,
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-0.004227571655064821,
0.9997371435165405,
0.007865997962653637,
0.021115876734256744
] |
[
0,
0,
0
] | 0
|
[
3.5762786865234375e-7,
0.0000011026859283447266,
-7.599592208862305e-7,
0.00001767929643392563,
1.7881393432617188e-7,
-0.00001035444438457489,
5.532056093215942e-7
] |
[
0.3203355669975281,
0.17493312060832977,
-0.19614537060260773,
1.1173193454742432,
0.04790221527218819,
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3.224525213241577,
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] |
[
0.5068591237068176,
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-0.004397190175950527,
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[
0,
0,
0
] | 0
|
[
-6.556510925292969e-7,
0.000007227063179016113,
0,
0.00018729781731963158,
0.0000015497207641601562,
-0.00016533397138118744,
0.000028833746910095215
] |
Pick up pink block.
|
[
0.009183397516608238,
0.05250179395079613,
0.1400097757577896,
-2.3105854988098145,
0.003443341702222824,
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1,
3.935659408569336,
2.4559848308563232,
1.1058083772659302,
-0.7392163872718811,
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-2.402730703353882,
-0.8824047446250916,
-0.2888283431529999,
-0.7056860327720642,
0.4836793839931488
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[
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2.410639524459839,
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0
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[
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0.9997373223304749,
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| 21
| 0
| 21
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
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|
[
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3.7997961044311523e-7,
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[
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[
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[
0,
0,
0
] | 0
|
[
4.76837158203125e-7,
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0.000017642974853515625,
2.384185791015625e-7,
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[
0.35698753595352173,
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1.148834228515625,
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] |
[
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[
0,
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] | 0
|
[
-6.556510925292969e-7,
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-0.00016509182751178741,
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] |
Pick up pink block.
|
[
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[
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[
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| 22
| 0
| 22
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
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|
[
-0.000005662441253662109,
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[
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[
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[
0,
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0
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
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0
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000004827976226806641,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
5.960464477539062e-7,
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2.980232238769531e-7,
-0.000010786578059196472,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-6.556510925292969e-7,
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4.023313522338867e-7,
0.00018226448446512222,
0.000002384185791015625,
-0.0001650433987379074,
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] |
Pick up pink block.
|
[
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[
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[
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] | 0.766667
| 23
| 0
| 23
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.000011146068572998047,
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9.387731552124023e-7,
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1.7881393432617188e-7,
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[
-0.8855733871459961,
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[
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[
0,
0,
0
] | 0
|
[
-0.000005125999450683594,
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[
-1.670023798942566,
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0
] |
[
0.5283825993537903,
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[
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] | 0
|
[
-7.748603820800781e-7,
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[
0.1012076586484909,
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] |
[
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[
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|
[
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[
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[
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[
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] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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0.000018819235265254974,
3.5762786865234375e-7,
-0.000011269934475421906,
-0.0000037997961044311523
] |
[
0.4242607653141022,
0.2550496459007263,
-0.2828282117843628,
1.2070391178131104,
0.10693589597940445,
0.9136773943901062,
3.2119100093841553,
0
] |
[
0.5283823609352112,
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[
0,
0,
0
] | 0
|
[
-5.364418029785156e-7,
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0.00018005911260843277,
0.00000286102294921875,
-0.00016520358622074127,
0.000022444874048233032
] |
Pick up pink block.
|
[
0.012884041294455528,
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[
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[
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] | 0.8
| 24
| 0
| 24
| 0
|
[
0.23826096951961517,
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[
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[
-0.15000000596046448,
0,
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|
[
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2.980232238769531e-7,
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.00000476837158203125,
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000004708766937255859,
3.3527612686157227e-7,
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-0.00000286102294921875,
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[
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0
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[
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[
0,
0,
0
] | 0
|
[
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4.172325134277344e-7,
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[
0.4457210600376129,
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] |
[
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[
0,
0,
0
] | 0
|
[
-4.76837158203125e-7,
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6.407499313354492e-7,
0.00017864909023046494,
0.0000030994415283203125,
-0.00016534142196178436,
0.00002101808786392212
] |
Pick up pink block.
|
[
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[
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[
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] | 0.833333
| 25
| 0
| 25
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
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5.960464477539062e-7,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000003933906555175781,
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[
-1.627868890762329,
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-2.0830230712890625,
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0
] |
[
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0.02562294714152813
] |
[
0,
0,
0
] | 0
|
[
-6.556510925292969e-7,
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[
0.15335425734519958,
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1.3853013515472412,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.00000476837158203125,
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[
-0.08129178732633591,
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[
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[
0,
0,
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] | 0
|
[
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[
-0.1843225657939911,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000004649162292480469,
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-0.0000033676624298095703,
0.0000018253922462463379,
-0.0000029206275939941406,
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[
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-1.7008399963378906,
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] |
[
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-0.016746100038290024,
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[
0,
0,
0
] | 0
|
[
8.940696716308594e-7,
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-7.450580596923828e-7,
0.0000211372971534729,
6.556510925292969e-7,
-0.000012654811143875122,
-0.000006619840860366821
] |
[
0.496130108833313,
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] |
[
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[
0,
0,
0
] | 0
|
[
-2.980232238769531e-7,
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-0.00016562361270189285,
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] |
Pick up pink block.
|
[
0.013366680592298508,
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-2.1936280727386475,
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1,
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[
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-2.233238458633423,
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] |
[
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-0.01672496274113655
] | 0.866667
| 26
| 0
| 26
| 0
|
[
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] |
[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000013589859008789062,
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-0.00006191059947013855,
8.344650268554688e-7,
0.00014326535165309906,
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] |
[
-0.7733073234558105,
-1.1371015310287476,
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-0.49913474917411804,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000035762786865234375,
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[
-1.6145062446594238,
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0
] |
[
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[
0,
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0
] | 0
|
[
-6.556510925292969e-7,
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[
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[
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[
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] | 0
|
[
-0.000004649162292480469,
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[
-0.09335706382989883,
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] |
[
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[
0,
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] | 0
|
[
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0.00023281574249267578,
0.000007569789886474609,
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[
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1.046709418296814,
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0
] |
[
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[
0,
0,
0
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|
[
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0.0000010970979928970337,
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[
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[
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[
0,
0,
0
] | 0
|
[
9.5367431640625e-7,
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[
0.5176637768745422,
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[
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[
0,
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0
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|
[
-1.1920928955078125e-7,
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0.00017314031720161438,
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] |
Pick up pink block.
|
[
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[
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[
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| 27
| 0
| 27
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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0.00002248026430606842,
8.344650268554688e-7,
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[
0.5365281701087952,
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] |
[
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[
0,
0,
0
] | 0
|
[
1.1920928955078125e-7,
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0.0001711864024400711,
0.00000476837158203125,
-0.00016561802476644516,
0.000009384006261825562
] |
Pick up pink block.
|
[
0.013709276914596558,
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0.21954908967018127,
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[
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[
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| 28
| 0
| 28
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.0000029206275939941406,
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[
-1.5932466983795166,
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1.823434829711914,
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0
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[
0.556122899055481,
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[
0,
0,
0
] | 0
|
[
-5.364418029785156e-7,
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9.96515154838562e-7,
0.000043330714106559753
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[
0.17696113884449005,
1.3543338775634766,
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1.3130242824554443,
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] |
[
0.5547760725021362,
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-0.02348441630601883,
0.9993165731430054,
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0.027263592928647995
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[
0,
0,
0
] | 0
|
[
-0.000004470348358154297,
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0.00004988163709640503,
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[
-0.11220982670783997,
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0
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[
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[
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|
[
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[
-0.21252748370170593,
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[
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[
0,
0,
0
] | 0
|
[
-0.0000045299530029296875,
2.8312206268310547e-7,
-0.0000032186508178710938,
-1.73225998878479e-7,
-0.000003039836883544922,
-0.00001663248986005783,
0.00011777505278587341
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[
0.1597301959991455,
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-1.6455433368682861,
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.0000011324882507324219,
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-7.450580596923828e-7,
0.00002277456223964691,
9.5367431640625e-7,
-0.000013614073395729065,
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] |
[
0.549681544303894,
0.3811219334602356,
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1.3491339683532715,
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] |
[
0.5561220049858093,
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[
0,
0,
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] | 0
|
[
3.5762786865234375e-7,
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] |
Pick up pink block.
|
[
0.01362883672118187,
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-2.1496551036834717,
-0.0050406623631715775,
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[
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-2.1751575469970703,
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[
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-0.023434534668922424
] | 0.966667
| 29
| 0
| 29
| 0
|
[
0.3104911744594574,
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-0.3422943651676178,
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[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000015795230865478516,
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-0.00004470348358154297,
0.0000015497207641601562,
0.00014296453446149826,
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[
-0.7183470129966736,
-1.1008189916610718,
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-0.5100175738334656,
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0
] |
[
0.5599822998046875,
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[
0,
0,
0
] | 0
|
[
-0.000002682209014892578,
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[
-1.5877124071121216,
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0
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[
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[
0,
0,
0
] | 0
|
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Pick up pink block.
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Pick up pink block.
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| 31
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| 31
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|
End of preview. Expand
in Data Studio
iamlab_cmu_pickup_insert_train_200_300_augmented
Overview
- Codebase version:
v3.0 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
- FPS: 30
- Episodes: 100
- Frames: 24,706
- Splits:
train:0:100
Data Layout
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.google_robot |
video |
360×640×3 |
Augmented image for google_robot robot |
observation.images.image |
video |
360×640×3 |
Source robot's image from original dataset |
observation.images.jaco |
video |
360×640×3 |
Augmented image for jaco robot |
observation.images.kinova3 |
video |
360×640×3 |
Augmented image for kinova3 robot |
observation.images.kuka_iiwa |
video |
360×640×3 |
Augmented image for kuka_iiwa robot |
observation.images.sawyer |
video |
360×640×3 |
Augmented image for sawyer robot |
observation.images.ur5e |
video |
360×640×3 |
Augmented image for ur5e robot |
observation.images.widowX |
video |
360×640×3 |
Augmented image for widowX robot |
observation.images.xarm7 |
video |
360×640×3 |
Augmented image for xarm7 robot |
episode_index |
int64 |
1 |
Index of the current episode within the dataset. |
frame_index |
int64 |
1 |
Index of the current frame within its episode. |
index |
int64 |
1 |
Global frame index across the whole dataset. |
natural_language_instruction |
string |
1 |
Natural language command describing the task |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
observation.google_robot.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.google_robot.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.google_robot.ee_error |
float32 |
7 |
The eef difference between the augmented google_robot robot and the original robot |
observation.google_robot.ee_pose |
float32 |
7 |
The eef position of google_robot robot |
observation.google_robot.joints |
float32 |
8 |
The joint position of google_robot robot |
observation.jaco.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.jaco.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.jaco.ee_error |
float32 |
7 |
The eef difference between the augmented jaco robot and the original robot |
observation.jaco.ee_pose |
float32 |
7 |
The eef position of jaco robot |
observation.jaco.joints |
float32 |
7 |
The joint position of jaco robot |
observation.joints |
float32 |
8 |
Joint angle of source robot |
observation.kinova3.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kinova3.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kinova3.ee_error |
float32 |
7 |
The eef difference between the augmented kinova3 robot and the original robot |
observation.kinova3.ee_pose |
float32 |
7 |
The eef position of kinova3 robot |
observation.kinova3.joints |
float32 |
8 |
The joint position of kinova3 robot |
observation.kuka_iiwa.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kuka_iiwa.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kuka_iiwa.ee_error |
float32 |
7 |
The eef difference between the augmented kuka_iiwa robot and the original robot |
observation.kuka_iiwa.ee_pose |
float32 |
7 |
The eef position of kuka_iiwa robot |
observation.kuka_iiwa.joints |
float32 |
8 |
The joint position of kuka_iiwa robot |
observation.sawyer.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.sawyer.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.sawyer.ee_error |
float32 |
7 |
The eef difference between the augmented sawyer robot and the original robot |
observation.sawyer.ee_pose |
float32 |
7 |
The eef position of sawyer robot |
observation.sawyer.joints |
float32 |
8 |
The joint position of sawyer robot |
observation.state |
float32 |
20 |
Copy of the state field in source robot's RLDS dataset |
observation.ur5e.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.ur5e.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.ur5e.ee_error |
float32 |
7 |
The eef difference between the augmented ur5e robot and the original robot |
observation.ur5e.ee_pose |
float32 |
7 |
The eef position of ur5e robot |
observation.ur5e.joints |
float32 |
7 |
The joint position of ur5e robot |
observation.widowX.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.widowX.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.widowX.ee_error |
float32 |
7 |
The eef difference between the augmented widowX robot and the original robot |
observation.widowX.ee_pose |
float32 |
7 |
The eef position of widowX robot |
observation.widowX.joints |
float32 |
7 |
The joint position of widowX robot |
observation.xarm7.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.xarm7.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.xarm7.ee_error |
float32 |
7 |
The eef difference between the augmented xarm7 robot and the original robot |
observation.xarm7.ee_pose |
float32 |
7 |
The eef position of xarm7 robot |
observation.xarm7.joints |
float32 |
8 |
The joint position of xarm7 robot |
task_index |
int64 |
1 |
Integer ID of the high-level task this episode/frame belongs to. |
timestamp |
float32 |
1 |
Time stamp of the current frame within the episode (in second). |
Website
- Website page: https://oxe-auge.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-auge
Paper
Citation Policy
If you use OXE-AugE datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@inproceedings{saxena2023multiresolution,
title={Multi-Resolution Sensing for Real-Time Control with Vision-Language Models},
author={Saumya Saxena and Mohit Sharma and Oliver Kroemer},
booktitle={7th Annual Conference on Robot Learning},
year={2023},
url={https://openreview.net/forum?id=WuBv9-IGDUA}
}
OXE-AugE Dataset Citation (ours)
@misc{
ji2025oxeaug,
title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
year = {2025},
note = {Manuscript}
}
- Downloads last month
- 31
Size of downloaded dataset files:
26.5 MB
Size of the auto-converted Parquet files:
26.5 MB
Number of rows:
24,706